Vehicle Self-Position Correction via Trajectory Smoothing
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Solution Overview
Problem
Existing vehicle position correction methods can cause sudden changes in steering angle, particularly when correcting position information on predetermined tracks, leading to potential anxiety for occupants, especially on curved roads.
Innovation Solution
A self-position correction method and device that calculates longitudinal and lateral correction amounts using a combination of GPS, radar, camera, and inertial measurement sensors, integrating these corrections into vehicle speed to avoid direct addition to the vehicle's position coordinates, thereby smoothing steering angle changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position correction amount is directly added to position information, then position accuracy is improved, but steering angle changes suddenly
Solution Approach 1:
The patent introduces trajectory as an intermediary element between position correction and steering control. Instead of directly applying position correction to steering, the system first corrects position information, then generates a trajectory based on the corrected position, and finally derives steering angles from the trajectory. This intermediary trajectory smoothing process prevents sudden steering angle changes while maintaining position accuracy.
Solution Approach 2:
The patent applies preliminary action by generating the trajectory before calculating steering angles. The trajectory is pre-computed based on corrected position information and lane shape, serving as a buffer that smooths out corrections before they reach the steering control system. This preliminary trajectory generation step ensures that steering adjustments are gradual and natural.
2Measurement precision
If position correction is applied frequently, then position accuracy is maintained, but sudden steering corrections occur
Solution Approach 1:
The trajectory serves as a mediator that filters and smooths frequent position corrections before they affect steering. Even when position corrections occur frequently, the trajectory generation process interpolates between corrections and constrains steering changes to be within natural limits, preventing occupant anxiety while maintaining accurate positioning.
Solution Approach 2:
The system dynamically adjusts steering corrections based on the generated trajectory rather than applying fixed corrections from position data. The trajectory adapts to the vehicle's motion state and lane geometry, allowing frequent position updates to be translated into smooth, context-appropriate steering adjustments that don't cause occupant discomfort.
Data Source
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AI summary
A self-position correction method and/or a self-position correction device according to an aspect of the present invention use a coordinate of the axis parallel to a front-rear direction of a vehicle as a longitudinal coordinate, calculate a corrected vehicle speed by adding a vehicle speed to a correction amount set based on a longitudinal correction amount obtained by subtracting a value of the longitudinal coordinate of a position of a target object detected by a detection unit from a value of the longitudinal coordinate of a position of a target object registered on a map data, and correct a position of the vehicle on the map data by estimating a position of the vehicle based on sequential integration of a calculated movement amount of the vehicle based on the corrected vehicle speed and a yaw rate of the vehicle.